/* | |
FreeRTOS V6.0.5 - Copyright (C) 2010 Real Time Engineers Ltd. | |
*************************************************************************** | |
* * | |
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* "Using the FreeRTOS Real Time Kernel - a Practical Guide" * | |
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* * | |
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*************************************************************************** | |
This file is part of the FreeRTOS distribution. | |
FreeRTOS is free software; you can redistribute it and/or modify it under | |
the terms of the GNU General Public License (version 2) as published by the | |
Free Software Foundation AND MODIFIED BY the FreeRTOS exception. | |
***NOTE*** The exception to the GPL is included to allow you to distribute | |
a combined work that includes FreeRTOS without being obliged to provide the | |
source code for proprietary components outside of the FreeRTOS kernel. | |
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT | |
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or | |
FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for | |
more details. You should have received a copy of the GNU General Public | |
License and the FreeRTOS license exception along with FreeRTOS; if not it | |
can be viewed here: http://www.freertos.org/a00114.html and also obtained | |
by writing to Richard Barry, contact details for whom are available on the | |
FreeRTOS WEB site. | |
1 tab == 4 spaces! | |
http://www.FreeRTOS.org - Documentation, latest information, license and | |
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http://www.SafeRTOS.com - A version that is certified for use in safety | |
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*/ | |
/** | |
* Defines the tasks and co-routines used to toggle the segments of the two | |
* seven segment displays, as described at the top of main.c | |
*/ | |
#include <stdlib.h> | |
/* Scheduler include files. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
#include "croutine.h" | |
/* Demo program include files. */ | |
#include "partest.h" | |
/*-----------------------------------------------------------*/ | |
/* One task per segment of the left side display. */ | |
#define ledNUM_OF_LED_TASKS ( 7 ) | |
/* Each task toggles at a frequency that is a multiple of 333ms. */ | |
#define ledFLASH_RATE_BASE ( ( portTickType ) 333 ) | |
/* One co-routine per segment of the right hand display. */ | |
#define ledNUM_OF_LED_CO_ROUTINES 7 | |
/* All co-routines run at the same priority. */ | |
#define ledCO_ROUTINE_PRIORITY 0 | |
/*-----------------------------------------------------------*/ | |
/* The task that is created 7 times. */ | |
static void vLEDFlashTask( void *pvParameters ); | |
/* The co-routine that is created 7 times. */ | |
static void prvFixedDelayCoRoutine( xCoRoutineHandle xHandle, unsigned short usIndex ); | |
/* This task is created once, but itself creates 7 co-routines. */ | |
static void vLEDCoRoutineControlTask( void *pvParameters ); | |
/* Handles to each of the 7 tasks. Used so the tasks can be suspended | |
and resumed. */ | |
static xTaskHandle xFlashTaskHandles[ ledNUM_OF_LED_TASKS ] = { 0 }; | |
/* Handle to the task in which the co-routines run. Used so the | |
co-routines can be suspended and resumed. */ | |
static xTaskHandle xCoroutineTask; | |
/*-----------------------------------------------------------*/ | |
/** | |
* Creates the tasks and co-routines used to toggle the segments of the two | |
* seven segment displays, as described at the top of main.c | |
*/ | |
void vCreateFlashTasksAndCoRoutines( void ) | |
{ | |
signed short sLEDTask; | |
/* Create the tasks that flash segments on the first LED. */ | |
for( sLEDTask = 0; sLEDTask < ledNUM_OF_LED_TASKS; ++sLEDTask ) | |
{ | |
/* Spawn the task. */ | |
xTaskCreate( vLEDFlashTask, ( signed char * ) "LEDt", configMINIMAL_STACK_SIZE, ( void * ) sLEDTask, ( tskIDLE_PRIORITY + 1 ), &( xFlashTaskHandles[ sLEDTask ] ) ); | |
} | |
/* Create the task in which the co-routines run. The co-routines themselves | |
are created within the task. */ | |
xTaskCreate( vLEDCoRoutineControlTask, ( signed char * ) "LEDc", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, &xCoroutineTask ); | |
} | |
/*-----------------------------------------------------------*/ | |
void vSuspendFlashTasks( unsigned char ucIndex, short sSuspendTasks ) | |
{ | |
short sLEDTask; | |
if( ucIndex == configLEFT_DISPLAY ) | |
{ | |
/* Suspend or resume the tasks that are toggling the segments of the | |
left side display. */ | |
for( sLEDTask = 0; sLEDTask < ledNUM_OF_LED_TASKS; ++sLEDTask ) | |
{ | |
if( xFlashTaskHandles[ sLEDTask ] != NULL ) | |
{ | |
if( sSuspendTasks == pdTRUE ) | |
{ | |
vTaskSuspend( xFlashTaskHandles[ sLEDTask ] ); | |
} | |
else | |
{ | |
vTaskResume( xFlashTaskHandles[ sLEDTask ] ); | |
} | |
} | |
} | |
} | |
else | |
{ | |
/* Suspend or resume the task in which the co-routines are running. The | |
co-routines toggle the segments of the right side display. */ | |
if( sSuspendTasks == pdTRUE ) | |
{ | |
vTaskSuspend( xCoroutineTask ); | |
} | |
else | |
{ | |
vTaskResume( xCoroutineTask ); | |
} | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
static void vLEDFlashTask( void * pvParameters ) | |
{ | |
portTickType xFlashRate, xLastFlashTime; | |
unsigned short usLED; | |
/* The LED to flash is passed in as the task parameter. */ | |
usLED = ( unsigned short ) pvParameters; | |
/* Calculate the rate at which this task is going to toggle its LED. */ | |
xFlashRate = ledFLASH_RATE_BASE + ( ledFLASH_RATE_BASE * ( portTickType ) usLED ); | |
xFlashRate /= portTICK_RATE_MS; | |
/* We will turn the LED on and off again in the delay period, so each | |
delay is only half the total period. */ | |
xFlashRate /= ( portTickType ) 2; | |
/* We need to initialise xLastFlashTime prior to the first call to | |
vTaskDelayUntil(). */ | |
xLastFlashTime = xTaskGetTickCount(); | |
for(;;) | |
{ | |
/* Delay for half the flash period then turn the LED on. */ | |
vTaskDelayUntil( &xLastFlashTime, xFlashRate ); | |
vParTestToggleLED( usLED ); | |
/* Delay for half the flash period then turn the LED off. */ | |
vTaskDelayUntil( &xLastFlashTime, xFlashRate ); | |
vParTestToggleLED( usLED ); | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
static void vLEDCoRoutineControlTask( void *pvParameters ) | |
{ | |
unsigned short usCoroutine; | |
( void ) pvParameters; | |
/* Create the co-routines - one of each segment of the right side display. */ | |
for( usCoroutine = 0; usCoroutine < ledNUM_OF_LED_CO_ROUTINES; usCoroutine++ ) | |
{ | |
xCoRoutineCreate( prvFixedDelayCoRoutine, ledCO_ROUTINE_PRIORITY, usCoroutine ); | |
} | |
/* This task has nothing else to do except scheduler the co-routines it just | |
created. */ | |
for( ;; ) | |
{ | |
vCoRoutineSchedule(); | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvFixedDelayCoRoutine( xCoRoutineHandle xHandle, unsigned short usIndex ) | |
{ | |
/* The usIndex parameter of the co-routine function is used as an index into | |
the xFlashRates array to obtain the delay period to use. */ | |
static const portTickType xFlashRates[ ledNUM_OF_LED_CO_ROUTINES ] = { 150 / portTICK_RATE_MS, | |
300 / portTICK_RATE_MS, | |
450 / portTICK_RATE_MS, | |
600 / portTICK_RATE_MS, | |
750 / portTICK_RATE_MS, | |
900 / portTICK_RATE_MS, | |
1050 / portTICK_RATE_MS }; | |
/* Co-routines MUST start with a call to crSTART. */ | |
crSTART( xHandle ); | |
for( ;; ) | |
{ | |
/* Toggle the LED. An offset of 8 is used to skip over the segments of | |
the left side display which use the low numbers. */ | |
vParTestToggleLED( usIndex + 8 ); | |
/* Delay until it is time to toggle the segment that this co-routine is | |
controlling again. */ | |
crDELAY( xHandle, xFlashRates[ usIndex ] ); | |
} | |
/* Co-routines MUST end with a call to crEND. */ | |
crEND(); | |
} | |
/*-----------------------------------------------------------*/ | |